On Algorithms for Planning S-Curve Motion Profiles | Zendy

Kim Doang Nguyen | Zendy; T.S. Ng | Zendy; IMing Chen | Zendy

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On Algorithms for Planning S-Curve Motion Profiles

Author(s) -

Kim Doang Nguyen,

T.S. Ng,

IMing Chen

Publication year - 2008

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5652

Subject(s) - computer science , algorithm , motion (physics) , motion planning , curve fitting , polynomial and rational function modeling , trajectory , polynomial , trigonometric functions , artificial intelligence , mathematics , robot , machine learning , geometry , mathematical analysis , physics , astronomy

Although numerous researches on s-curve motion profiles have been carried out, up to date, no systematic investigation on the general model of polynomial s-curve motion profiles is considered. In this paper, the model of polynomial s-curve motion profiles is generalized in a recursive form. Based on that, a general algorithm to design s-curve trajectory with time-optimal consideration is proposed. In addition, a special strategy for planning s-curve motion profiles using a trigonometric model is also presented. The algorithms are implemented on a linear motor system. Experimental results show the effectiveness and promising application ability of the algorithms in s-curve motion profiling

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